Senegal suffered one of the tournament's most dramatic exits, squandering a two-goal lead before losing 3-2 to Belgium after extra time, while DR Congo's dream run came to an end with a hard-fought 2-1 defeat to England.

The two defeats mean Senegal and DR Congo join Tunisia, Côte d'Ivoire and South Africa on the list of African nations eliminated from the tournament, leaving five teams still chasing the continent's elusive first FIFA World Cup title.

Senegal looked destined for the last 16 after goals from Habib Diarra and Ismaïla Sarr gave the Teranga Lions a commanding 2-0 advantage. Diarra opened the scoring in the 25th minute before Sarr doubled the lead six minutes after halftime with a superb chest control and finish past Thibaut Courtois.

Belgium, however, mounted a remarkable late comeback. Substitute Romelu Lukaku sparked the revival with a goal in the 86th minute before Youri Tielemans equalised three minutes later to force extra time.

Just as the match appeared headed for penalties, Tielemans converted from the spot in the fifth minute of stoppage time at the end of extra time after a video review awarded Belgium a penalty. His strike in the 125th minute became the latest goal in FIFA World Cup history, sending Belgium through to the Round of 16.

Senegal coach Pape Thiaw admitted the defeat was difficult to accept after his side had controlled much of the contest.

"It is a cruel loss, as we were good in the game," Thiaw said. "We had the advantage. We were leading 2-0. However, a football match is not an 85-minute one. Belgium came back, and we were not able to deal with that."

He declined to criticise the decisive penalty decision, saying: "We all have different interpretations when it comes to awarding a penalty. I'd rather not comment."

Belgium's comeback was only the second time in the last 11 World Cups that a team trailing by two or more goals in a knockout match recovered to win.

DR Congo also exited with heads held high after pushing England to the limit.

The Leopards stunned the Three Lions in the seventh minute when Brian Cipenga beat Jordan Pickford at his near post to give the Central African nation an early lead. DR Congo defended resolutely throughout the first half and continued to threaten on the counterattack.

England eventually found a way back through captain Harry Kane, who struck twice in the final 15 minutes to complete a 2-1 comeback and send the 1966 champions into the last 16, where they will face co-hosts Mexico.

Despite the defeat, DR Congo's World Cup journey captured attention far beyond the football pitch.

Competing at the finals for the first time in 52 years, the Leopards overcame a demanding qualification campaign, eliminated continental heavyweights Cameroon and Nigeria, and progressed from a difficult group that included Portugal, Colombia and Uzbekistan.

With Senegal and DR Congo now eliminated, Africa's hopes of producing its first FIFA World Cup champion rest with Morocco, Algeria, Egypt, Ghana and Cape Verde. Morocco have already booked a place in the Round of 16, where they will face Canada after eliminating the Netherlands on penalties.

The remaining four African sides are still to play their Round of 32 ties, with Algeria taking on Switzerland, Egypt facing Australia, Ghana meeting Colombia, and Cape Verde up against defending champions Argentina.